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<li class="navelem"><a class="el" href="namespaceDJI.html">DJI</a></li><li class="navelem"><b>onboardSDK</b></li><li class="navelem"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html">VirtualRC</a></li>  </ul>
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<a href="#pub-types">Public Types</a> &#124;
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<p><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html" title="VirtualRC class has all the methods to mimic the RC functionality via OnboardSDK. ...">VirtualRC</a> class has all the methods to mimic the RC functionality via OnboardSDK.  
 <a href="classDJI_1_1onboardSDK_1_1VirtualRC.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="DJI__VirtualRC_8h_source.html">DJI_VirtualRC.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:afb7e78cc867201d1c64eee3af9d69c65"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb7e78cc867201d1c64eee3af9d69c65"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>CutOff</b> { <b>CutOff_ToLogic</b> = 0, 
<b>CutOff_ToRealRC</b> = 1
 }</td></tr>
<tr class="separator:afb7e78cc867201d1c64eee3af9d69c65"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2241fc42c7548f3286453addf040d4e5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2241fc42c7548f3286453addf040d4e5"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>VirtualRC</b> (<a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">CoreAPI</a> *ControlAPI=0)</td></tr>
<tr class="separator:a2241fc42c7548f3286453addf040d4e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a561e25be8d98214360affe7907b52f63"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a561e25be8d98214360affe7907b52f63">setControl</a> (bool enable, CutOff cutoffType)</td></tr>
<tr class="separator:a561e25be8d98214360affe7907b52f63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72a474c78f12b733244eec8a68d73f5b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a72a474c78f12b733244eec8a68d73f5b">sendData</a> (<a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a> Data)</td></tr>
<tr class="separator:a72a474c78f12b733244eec8a68d73f5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1b6b198870cd24af401dcf75b2493730"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1b6b198870cd24af401dcf75b2493730"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a1b6b198870cd24af401dcf75b2493730">sendData</a> ()</td></tr>
<tr class="memdesc:a1b6b198870cd24af401dcf75b2493730"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function will be deprecated in a future release. Please use <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a72a474c78f12b733244eec8a68d73f5b">sendData(VirtualRCData Data)</a> instead. <br /></td></tr>
<tr class="separator:a1b6b198870cd24af401dcf75b2493730"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5a799eb6b658be4e18ac24c16a1d2d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9c5a799eb6b658be4e18ac24c16a1d2d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a9c5a799eb6b658be4e18ac24c16a1d2d">resetData</a> ()</td></tr>
<tr class="memdesc:a9c5a799eb6b658be4e18ac24c16a1d2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function will not be maintained and will be deprecated in a future release. Please use resetVRCData() instead. <br /></td></tr>
<tr class="separator:a9c5a799eb6b658be4e18ac24c16a1d2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a26bb84b709df68859b7caecefa190849"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a26bb84b709df68859b7caecefa190849"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a26bb84b709df68859b7caecefa190849">sendSafeModeData</a> ()</td></tr>
<tr class="memdesc:a26bb84b709df68859b7caecefa190849"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function will be deprecated in the future. Please use <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a5a7974a1d812e1ed38b8bb9a092bebfc">neutralVRCSticks()</a> instead. <br /></td></tr>
<tr class="separator:a26bb84b709df68859b7caecefa190849"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a7974a1d812e1ed38b8bb9a092bebfc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a5a7974a1d812e1ed38b8bb9a092bebfc">neutralVRCSticks</a> ()</td></tr>
<tr class="separator:a5a7974a1d812e1ed38b8bb9a092bebfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adde3376c294c532e5fbea7ec81bef009"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adde3376c294c532e5fbea7ec81bef009"></a>
<a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#adde3376c294c532e5fbea7ec81bef009">getVRCData</a> () const </td></tr>
<tr class="memdesc:adde3376c294c532e5fbea7ec81bef009"><td class="mdescLeft">&#160;</td><td class="mdescRight">New function - this will replace <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a26bb84b709df68859b7caecefa190849" title="This function will be deprecated in the future. Please use neutralVRCSticks() instead. ">sendSafeModeData()</a> in a future release. <br /></td></tr>
<tr class="separator:adde3376c294c532e5fbea7ec81bef009"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2ff6d77cdc0da443c5ae27736c06501"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structDJI_1_1onboardSDK_1_1RadioData.html">RadioData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#ab2ff6d77cdc0da443c5ae27736c06501">getRCData</a> () const </td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setVRCData</b> (const <a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a> &amp;value)</td></tr>
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<tr class="memitem:a67756cb97c55c38283c7c171f22a2ba3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a67756cb97c55c38283c7c171f22a2ba3"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>isVirtualRC</b> () const </td></tr>
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<tr class="memitem:a937509163a463733565e3b3146788097"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a937509163a463733565e3b3146788097"></a>
<a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">CoreAPI</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getApi</b> () const </td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setApi</b> (<a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">CoreAPI</a> *value)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a73145c476b89e8eb38a7d858411b8457"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structDJI_1_1onboardSDK_1_1RadioData.html">RadioData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a73145c476b89e8eb38a7d858411b8457">toRadioData</a> (<a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a> &amp;vData)</td></tr>
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static <a class="el" href="structDJI_1_1onboardSDK_1_1RCData.html">RCData</a>&#160;</td><td class="memItemRight" valign="bottom"><b>toRCData</b> (<a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a> &amp;vData)</td></tr>
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static <a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a>&#160;</td><td class="memItemRight" valign="bottom"><b>toVirtualRCData</b> (<a class="el" href="structDJI_1_1onboardSDK_1_1RadioData.html">RadioData</a> &amp;rData)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html" title="VirtualRC class has all the methods to mimic the RC functionality via OnboardSDK. ...">VirtualRC</a> class has all the methods to mimic the RC functionality via OnboardSDK. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="ab2ff6d77cdc0da443c5ae27736c06501"></a>
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          <td class="memname"><a class="el" href="structDJI_1_1onboardSDK_1_1RadioData.html">RadioData</a> VirtualRC::getRCData </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">
<dl class="section warning"><dt>Warning</dt><dd>return type will change to <a class="el" href="structDJI_1_1onboardSDK_1_1RCData.html">RCData</a> in a future release</dd>
<dd>
The return type will change to <a class="el" href="structDJI_1_1onboardSDK_1_1RCData.html">RCData</a> in a future release. </dd></dl>

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          <td class="memname">void VirtualRC::neutralVRCSticks </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000004">Deprecated:</a></b></dt><dd>This function will not be maintained and will be deprecated in a future release - please use <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a5a7974a1d812e1ed38b8bb9a092bebfc">neutralVRCSticks()</a> instead. </dd></dl>

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          <td class="memname">void VirtualRC::sendData </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a>&#160;</td>
          <td class="paramname"><em>Data</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>api-&gt;send command was moved to this function from <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a1b6b198870cd24af401dcf75b2493730" title="This function will be deprecated in a future release. Please use sendData(VirtualRCData Data) instead...">sendData()</a>. </p>

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          <td class="memname">void VirtualRC::setControl </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>enable</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">VirtualRC::CutOff&#160;</td>
          <td class="paramname"><em>cutoffType</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<dl class="section attention"><dt>Attention</dt><dd>Safety notes You must use these methods below really carefully with following rules:<ul>
<li>Use API <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a561e25be8d98214360affe7907b52f63">setControl(bool enable, CutOff cutoffType)</a>; only once in your main loop;</li>
<li>Check your control device status by useing the following method: if(getControlDevice() != CONTROL_BY_VIRTUALRC) { reset code; }</li>
<li></li>
</ul>
</dd>
<dd>
Your reset code must not be "setControl(true);" without any status check It may cause your drone became a nut drone.<ul>
<li></li>
</ul>
</dd></dl>
<dl class="section note"><dt>Note</dt><dd>You could quit your VRC(Virtual Remot Control) by switching your remote controller out of modeF<ul>
<li></li>
</ul>
</dd></dl>
<dl class="section attention"><dt>Attention</dt><dd>Most dangerous, setControl(true); must not be called over 0.5Hz or your drone will be locked in a logic-checking loop. And you cannot exit <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html" title="VirtualRC class has all the methods to mimic the RC functionality via OnboardSDK. ...">VirtualRC</a> mode by switching your remote controller's mode. Actually, in this situation your drone will be a full automatically controlled by it self. It will keep flying until its bettery is empty or your code make it stop.<ul>
<li></li>
</ul>
</dd>
<dd>
If you do not know what reset code you need to write, please just output your datalog and keep it empty.<ul>
<li></li>
</ul>
</dd>
<dd>
It would be realy dangous if you keep calling <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#a1b6b198870cd24af401dcf75b2493730" title="This function will be deprecated in a future release. Please use sendData(VirtualRCData Data) instead...">sendData()</a>; in a loop with out control-losing protection. like :</dd></dl>
<p>Global: <a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a> myData;</p>
<p>Thread 1: while(1) { myData = myAPIToSetupDataFromGroundStation(); }</p>
<p>Thread 2: while(1) { sendData(myData); msleep(200); }</p>
<p>When your drone lose signal, it will keep the recent command sent by your API: myAPIToSetupDataFromGroundStation(); This may result in a catastrophic crash.</p>
<dl class="section note"><dt>Note</dt><dd>API "sendData();" need to be called above 2Hz, and not greater than 25hz. </dd>
<dd>
API "sendSafeModeData();" will lead your drone hover; </dd></dl>

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          <td class="memname"><a class="el" href="structDJI_1_1onboardSDK_1_1RadioData.html">RadioData</a> VirtualRC::toRadioData </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structDJI_1_1onboardSDK_1_1VirtualRCData.html">VirtualRCData</a> &amp;&#160;</td>
          <td class="paramname"><em>vData</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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<dl class="section warning"><dt>Warning</dt><dd>old interface. Will be replaced by toRCData (see below) in a future release.</dd>
<dd>
This function will be deprecated in a future release. Please use toRCData instead. </dd></dl>

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